robif2b - building blocks for robotic interfaces

Dependencies

• Simple Open EtherCAT Master (SOEM) - for communication via EtherCAT
• Kortex API 2.6.0 - for communication with Kinova Gen3 arms
• Standalone Robotiq gripper library (via ENABLE_ROBOTIQ_GRIPPER option) depends on secorolab/robotiq_driver_noros repo.
• Standalone Robotiq force-torque sensor library (via ENABLE_ROBOTIQ_FT option) depends on secorolab/robotiq_ft repo.

Workspace

1. Create a workspace folder and clone the repository

   mkdir ~/<ws> && cd ~/<ws>
   
   mkdir src build install
   cd src

Building dependencies

SOEM

1. Clone the SOEM repository

   git clone https://github.com/OpenEtherCATsociety/SOEM.git

2. Build the SOEM library

   cd ~/<ws>/build
   # create a build folder
   mkdir soem && cd soem
   
   # build the library
   cmake -DCMAKE_INSTALL_PREFIX=~/<ws>/install -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=On ../../src/SOEM
   
   # install the library
   make install

robif2b

1. Building robif2b

   Before proceeding with the building, make sure the eternet port name is correct in the script. For example, in line 78 of freddy_2_example.c file, modify the value of state.ecat.ethernet_if if necessary.

2. Build robif2b library

   cd ~/<ws>/build
   # create a build folder
   mkdir robif2b && cd robif2b
   
   # build the library
   cmake -DCMAKE_INSTALL_PREFIX=~/<ws>/install -DCMAKE_PREFIX_PATH=/home/<abs_path_to_ws>/build/ -DCMAKE_C_FLAGS="-I/home/<abs_path_to_ws>/install/include" -DENABLE_ETHERCAT=ON -DENABLE_KELO=ON -DCMAKE_BUILD_TYPE=Release ../../src/robif2b
   
   # `ENABLE_ETHERCAT=ON` to enable EtherCAT communication
   # `ENABLE_KELO=ON` to enable Kelo drive communication
   # `ENABLE_ENABLE_KORTEX=ON` to enable Kinova Kortex drive communication
   # `ENABLE_KORTEX_API_AUTO_DOWNLOAD=ON` to download the Kortex API automatically
   
   # install the library
   make install

Running example script

cd ~/<ws>/build
sudo ./robif2b/src/example/freddy_2_example

• Kelo Power Board commands:' One of the following command can be used to control the power board of the Kelo drive. (L187-L191 in freddy_2_example.c)

  BASE_ON_TORSO_OFF 0b00000111
  TORSO_ON_BASE_OFF 0b00100100
  BASE_DON_TORSO_ON 0b00100000  // base (default on at startup), torso on
  BASE_AND_TORSO_ON 0b00100111
  BASE_AND_TORSO_OFF 0b00000100